Stabilization of collective motion on a sphere

@article{Paley2009StabilizationOC,
  title={Stabilization of collective motion on a sphere},
  author={Derek A. Paley},
  journal={Automatica},
  year={2009},
  volume={45},
  pages={212-216}
}
We provide a Lyapunov-based design of decentralized control laws that stabilize relative equilibria in a model of self-propelled particles that travel on the surface of a sphere. Such control lawshave applications in planetary-scale mobile sensing networks in air, sea, and space. Relative equilibria of the closed-loop model include formations inwhich all of the particles travel around a common circular trajectory. Particle interaction can be time-invariant or time-varying and directed or… CONTINUE READING
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